CN109424728B - 机器人以及机器人系统 - Google Patents

机器人以及机器人系统 Download PDF

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Publication number
CN109424728B
CN109424728B CN201810540112.4A CN201810540112A CN109424728B CN 109424728 B CN109424728 B CN 109424728B CN 201810540112 A CN201810540112 A CN 201810540112A CN 109424728 B CN109424728 B CN 109424728B
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CN
China
Prior art keywords
robot
lubricant
base portion
flange member
chamber
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Active
Application number
CN201810540112.4A
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English (en)
Chinese (zh)
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CN109424728A (zh
Inventor
大坪直幸
伊藤毅
石丸裕二
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
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Yaskawa Electric Corp
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Publication date
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Publication of CN109424728A publication Critical patent/CN109424728A/zh
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Publication of CN109424728B publication Critical patent/CN109424728B/zh
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/102—Gears specially adapted therefor, e.g. reduction gears
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0062—Lubrication means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/027—Gearboxes; Mounting gearing therein characterised by means for venting gearboxes, e.g. air breathers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H57/029—Gearboxes; Mounting gearing therein characterised by means for sealing the gearboxes, e.g. to improve airtightness
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/0434—Features relating to lubrication or cooling or heating relating to lubrication supply, e.g. pumps ; Pressure control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/04—Features relating to lubrication or cooling or heating
    • F16H57/045—Lubricant storage reservoirs, e.g. reservoirs in addition to a gear sump for collecting lubricant in the upper part of a gear case
    • F16H57/0454—Sealings between different partitions of a gearing or to a reservoir
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0009—Constructional details, e.g. manipulator supports, bases
    • B25J9/0018—Bases fixed on ceiling, i.e. upside down manipulators
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02039—Gearboxes for particular applications
    • F16H2057/02069—Gearboxes for particular applications for industrial applications
    • F16H2057/02073—Reduction gearboxes for industry
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H57/00—General details of gearing
    • F16H57/02—Gearboxes; Mounting gearing therein
    • F16H2057/02095—Measures for reducing number of parts or components

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • General Details Of Gearings (AREA)
CN201810540112.4A 2017-08-18 2018-05-30 机器人以及机器人系统 Active CN109424728B (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-157941 2017-08-18
JP2017157941A JP6670454B2 (ja) 2017-08-18 2017-08-18 ロボット及びロボットシステム

Publications (2)

Publication Number Publication Date
CN109424728A CN109424728A (zh) 2019-03-05
CN109424728B true CN109424728B (zh) 2022-02-11

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810540112.4A Active CN109424728B (zh) 2017-08-18 2018-05-30 机器人以及机器人系统

Country Status (4)

Country Link
US (1) US11027421B2 (fr)
EP (1) EP3444082B1 (fr)
JP (1) JP6670454B2 (fr)
CN (1) CN109424728B (fr)

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JP6691353B2 (ja) * 2015-05-22 2020-04-28 川崎重工業株式会社 潤滑剤注入システム
JP6845128B2 (ja) 2017-12-25 2021-03-17 ファナック株式会社 オイルバス内のオイルを撹拌するオイル循環装置及びオイル循環システム
DE102019210071B4 (de) * 2019-07-09 2022-02-24 Kuka Deutschland Gmbh Roboterarm
JP7481106B2 (ja) * 2019-12-03 2024-05-10 ファナック株式会社 産業用ロボットの関節構造
JP7412248B2 (ja) * 2020-03-30 2024-01-12 東京エレクトロン株式会社 搬送装置
JP7410324B2 (ja) * 2020-09-29 2024-01-09 ファナック株式会社 ロボット
JPWO2022114093A1 (fr) 2020-11-30 2022-06-02
CN112792841B (zh) * 2021-01-13 2021-09-17 河南理工大学 一种智能控制可移动式机械手臂
DE112021007509T5 (de) * 2021-06-29 2024-04-18 Fanuc Corporation Schmiermittelbadstruktur und roboter

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CN101272886A (zh) * 2005-09-27 2008-09-24 株式会社安川电机 多关节机械手
CA2894859A1 (fr) * 2012-08-21 2014-02-27 Nexen Group, Inc. Systeme d'engrenage a ondes de contrainte
CN103912663A (zh) * 2013-01-09 2014-07-09 株式会社安川电机 关节机构和机器人
CN104339367A (zh) * 2013-07-30 2015-02-11 株式会社安川电机 机器人
CN203717870U (zh) * 2014-03-04 2014-07-16 安徽江淮汽车股份有限公司 一种新型的变速箱加油结构
CN106195219A (zh) * 2014-08-11 2016-12-07 住友重机械工业株式会社 减速装置
CN105945991A (zh) * 2016-05-28 2016-09-21 东莞市联洲知识产权运营管理有限公司 一种执行末端可摆动的机器人
CN205799503U (zh) * 2016-06-03 2016-12-14 李衣芯 机械手臂

Also Published As

Publication number Publication date
EP3444082B1 (fr) 2022-08-31
US11027421B2 (en) 2021-06-08
EP3444082A1 (fr) 2019-02-20
US20190054614A1 (en) 2019-02-21
JP2019034383A (ja) 2019-03-07
CN109424728A (zh) 2019-03-05
JP6670454B2 (ja) 2020-03-25

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